WeatherVane Class Reference

#include <WeatherVane.hpp>

Inheritance diagram for WeatherVane:

Collaboration diagram for WeatherVane:

Public Member Functions
	WeatherVane ()
	~WeatherVane ()=default
void	activate ()
void	deactivate ()
bool	is_active ()
bool	weathervane_enabled ()
void	update (const matrix::Vector3f &dcm_z_sp_prev, float yaw)
float	get_weathervane_yawrate ()
void	update_parameters ()

Private Attributes
matrix::Vector3f	_dcm_z_sp_prev
	previous attitude setpoint body z axis More...
float	_yaw = 0.0f
	current yaw angle More...
bool	_is_active = true

Detailed Description

Definition at line 48 of file WeatherVane.hpp.

Constructor & Destructor Documentation

WeatherVane()

WeatherVane::WeatherVane

(

)

Definition at line 44 of file WeatherVane.cpp.

~WeatherVane()

WeatherVane::~WeatherVane ( )

default

Member Function Documentation

activate()

void WeatherVane::activate ( )

inline

Definition at line 55 of file WeatherVane.hpp.

References _is_active.

Referenced by FlightTaskAuto::_evaluateTriplets(), and MulticopterPositionControl::Run().

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deactivate()

void WeatherVane::deactivate ( )

inline

Definition at line 57 of file WeatherVane.hpp.

References _is_active.

Referenced by FlightTaskAuto::_evaluateTriplets(), and MulticopterPositionControl::Run().

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get_weathervane_yawrate()

float WeatherVane::get_weathervane_yawrate

(

)

Definition at line 54 of file WeatherVane.cpp.

References _dcm_z_sp_prev, _yaw, math::constrain(), f(), matrix::Vector< Type, M >::normalize(), and math::radians().

Referenced by FlightTaskAuto::_evaluateTriplets(), FlightTaskManualPosition::_updateSetpoints(), and weathervane_enabled().

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is_active()

bool WeatherVane::is_active ( )

inline

Definition at line 59 of file WeatherVane.hpp.

References _is_active.

Referenced by FlightTaskAuto::_evaluateTriplets(), and FlightTaskManualPosition::_updateSetpoints().

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update()

void WeatherVane::update	(	const matrix::Vector3f &	dcm_z_sp_prev,
		float	yaw
	)

Definition at line 48 of file WeatherVane.cpp.

References _dcm_z_sp_prev, and _yaw.

Referenced by MulticopterPositionControl::Run(), and weathervane_enabled().

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update_parameters()

void WeatherVane::update_parameters ( )

inline

Definition at line 67 of file WeatherVane.hpp.

Referenced by MulticopterPositionControl::parameters_update().

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weathervane_enabled()

bool WeatherVane::weathervane_enabled ( )

inline

Definition at line 61 of file WeatherVane.hpp.

References get_weathervane_yawrate(), and update().

Referenced by MulticopterPositionControl::Run().

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Member Data Documentation

_dcm_z_sp_prev

matrix::Vector3f WeatherVane::_dcm_z_sp_prev

private

previous attitude setpoint body z axis

Definition at line 70 of file WeatherVane.hpp.

Referenced by get_weathervane_yawrate(), and update().

_is_active

bool WeatherVane::_is_active = true

private

Definition at line 73 of file WeatherVane.hpp.

Referenced by activate(), deactivate(), and is_active().

_yaw

float WeatherVane::_yaw = 0.0f

private

current yaw angle

Definition at line 71 of file WeatherVane.hpp.

Referenced by get_weathervane_yawrate(), and update().

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The documentation for this class was generated from the following files:

• src/lib/weather_vane/WeatherVane.hpp
• src/lib/weather_vane/WeatherVane.cpp